﻿<?xml version='1.0' encoding='UTF-8'?>
<Project Type="Project" LVVersion="11008008">
	<Property Name="NI.Project.Description" Type="Str">This example shows how to continually replan a path using AD* on a changing map. The map is updated with new sensor information every time the robot moves, and AD* efficiently replans an valid path.

Requirements
LabVIEW Robotics</Property>
	<Item Name="My Computer" Type="My Computer">
		<Property Name="IOScan.Faults" Type="Str"></Property>
		<Property Name="IOScan.NetVarPeriod" Type="UInt">100</Property>
		<Property Name="IOScan.Period" Type="UInt">10000</Property>
		<Property Name="IOScan.PowerupMode" Type="UInt">0</Property>
		<Property Name="IOScan.Priority" Type="UInt">9</Property>
		<Property Name="IOScan.ReportModeConflict" Type="Bool">false</Property>
		<Property Name="IOScan.StartEngineOnDeploy" Type="Bool">false</Property>
		<Property Name="NI.SortType" Type="Int">3</Property>
		<Property Name="server.app.propertiesEnabled" Type="Bool">true</Property>
		<Property Name="server.control.propertiesEnabled" Type="Bool">true</Property>
		<Property Name="server.tcp.enabled" Type="Bool">false</Property>
		<Property Name="server.tcp.port" Type="Int">0</Property>
		<Property Name="server.tcp.serviceName" Type="Str">My Computer/VI Server</Property>
		<Property Name="server.tcp.serviceName.default" Type="Str">My Computer/VI Server</Property>
		<Property Name="server.vi.callsEnabled" Type="Bool">true</Property>
		<Property Name="server.vi.propertiesEnabled" Type="Bool">true</Property>
		<Property Name="specify.custom.address" Type="Bool">false</Property>
		<Item Name="SubVIs" Type="Folder">
			<Item Name="Is Cell Valid.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/Is Cell Valid.vi"/>
			<Item Name="Path To Grid.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/Path To Grid.vi"/>
			<Item Name="CreateCostWorld.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/CreateCostWorld.vi"/>
		</Item>
		<Item Name="ADstar_test3.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/ADstar_test3.vi"/>
		<Item Name="ADstar_test4.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/ADstar_test4.vi"/>
		<Item Name="ADstar_test_sub.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/ADstar_test_sub.vi"/>
		<Item Name="ADstarAction.ctl" Type="VI" URL="../../typedefs/ADstarAction.ctl"/>
		<Item Name="ADstar_test5.vi" Type="VI" URL="../ADstar on a Dynamic Occupancy Grid Folder/ADstar_test5.vi"/>
		<Item Name="Dependencies" Type="Dependencies">
			<Item Name="vi.lib" Type="Folder">
				<Item Name="NI_Robotics_AbstractDstarNode.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/MapNode/AbstractDstarNode/NI_Robotics_AbstractDstarNode.lvclass"/>
				<Item Name="NI_Robotics_AbstractMapNode.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/MapNode/AbstractMapNode/NI_Robotics_AbstractMapNode.lvclass"/>
				<Item Name="NI_Robotics_AbstractAstarNode.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/MapNode/AbstractAstarNode/NI_Robotics_AbstractAstarNode.lvclass"/>
				<Item Name="NI_Robotics_AbstractDstarWorldMap.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/WorldMap/AbstractDstarWorldMap/NI_Robotics_AbstractDstarWorldMap.lvclass"/>
				<Item Name="NI_Robotics_AbstractWorldMap.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/WorldMap/AbstractWorldMap/NI_Robotics_AbstractWorldMap.lvclass"/>
				<Item Name="NI_Robotics_OccupancyGridWorldMap.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/WorldMap/OccupancyGridWorldMap/NI_Robotics_OccupancyGridWorldMap.lvclass"/>
				<Item Name="NI_Robotics_OccupancyGridMapNode.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/MapNode/OccupancyGridNode/NI_Robotics_OccupancyGridMapNode.lvclass"/>
				<Item Name="NI_Robotics Utilities.lvlib" Type="Library" URL="/&lt;vilib&gt;/robotics/Utilities/NI_Robotics Utilities.lvlib"/>
				<Item Name="NI_Robotics_AnytimeDStar.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/Anytime D Star/NI_Robotics_AnytimeDStar.lvclass"/>
				<Item Name="NI_Robotics_Priority Queue.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/Priority Queue/NI_Robotics_Priority Queue.lvclass"/>
				<Item Name="NI_Robotics_InconsistentList.lvclass" Type="LVClass" URL="/&lt;vilib&gt;/robotics/Navigation/shared/InconsistentList/NI_Robotics_InconsistentList.lvclass"/>
				<Item Name="GetHelpDir.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/GetHelpDir.vi"/>
				<Item Name="BuildHelpPath.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/BuildHelpPath.vi"/>
				<Item Name="LVBoundsTypeDef.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/miscctls.llb/LVBoundsTypeDef.ctl"/>
				<Item Name="Get String Text Bounds.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Get String Text Bounds.vi"/>
				<Item Name="Get Text Rect.vi" Type="VI" URL="/&lt;vilib&gt;/picture/picture.llb/Get Text Rect.vi"/>
				<Item Name="Convert property node font to graphics font.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Convert property node font to graphics font.vi"/>
				<Item Name="Longest Line Length in Pixels.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Longest Line Length in Pixels.vi"/>
				<Item Name="Three Button Dialog CORE.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Three Button Dialog CORE.vi"/>
				<Item Name="Three Button Dialog.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Three Button Dialog.vi"/>
				<Item Name="DialogTypeEnum.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/DialogTypeEnum.ctl"/>
				<Item Name="Not Found Dialog.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Not Found Dialog.vi"/>
				<Item Name="Set Bold Text.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Set Bold Text.vi"/>
				<Item Name="Clear Errors.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Clear Errors.vi"/>
				<Item Name="eventvkey.ctl" Type="VI" URL="/&lt;vilib&gt;/event_ctls.llb/eventvkey.ctl"/>
				<Item Name="ErrWarn.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/ErrWarn.ctl"/>
				<Item Name="Details Display Dialog.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Details Display Dialog.vi"/>
				<Item Name="Search and Replace Pattern.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Search and Replace Pattern.vi"/>
				<Item Name="Find Tag.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Find Tag.vi"/>
				<Item Name="Format Message String.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Format Message String.vi"/>
				<Item Name="whitespace.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/whitespace.ctl"/>
				<Item Name="Trim Whitespace.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Trim Whitespace.vi"/>
				<Item Name="Error Code Database.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Error Code Database.vi"/>
				<Item Name="GetRTHostConnectedProp.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/GetRTHostConnectedProp.vi"/>
				<Item Name="Set String Value.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Set String Value.vi"/>
				<Item Name="TagReturnType.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/TagReturnType.ctl"/>
				<Item Name="Check Special Tags.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Check Special Tags.vi"/>
				<Item Name="General Error Handler CORE.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/General Error Handler CORE.vi"/>
				<Item Name="DialogType.ctl" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/DialogType.ctl"/>
				<Item Name="General Error Handler.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/General Error Handler.vi"/>
				<Item Name="Simple Error Handler.vi" Type="VI" URL="/&lt;vilib&gt;/Utility/error.llb/Simple Error Handler.vi"/>
				<Item Name="IMAQ Image.ctl" Type="VI" URL="/&lt;vilib&gt;/vision/Image Controls.llb/IMAQ Image.ctl"/>
				<Item Name="IMAQ ImageToArray" Type="VI" URL="/&lt;vilib&gt;/vision/Basics.llb/IMAQ ImageToArray"/>
				<Item Name="NI_Vision_Development_Module.lvlib" Type="Library" URL="/&lt;vilib&gt;/vision/NI_Vision_Development_Module.lvlib"/>
				<Item Name="Image Type" Type="VI" URL="/&lt;vilib&gt;/vision/Image Controls.llb/Image Type"/>
				<Item Name="IMAQ Create" Type="VI" URL="/&lt;vilib&gt;/vision/Basics.llb/IMAQ Create"/>
				<Item Name="Image Unit" Type="VI" URL="/&lt;vilib&gt;/vision/Image Controls.llb/Image Unit"/>
				<Item Name="IMAQ GetImageInfo" Type="VI" URL="/&lt;vilib&gt;/vision/Basics.llb/IMAQ GetImageInfo"/>
				<Item Name="IMAQ ReadFile" Type="VI" URL="/&lt;vilib&gt;/vision/Files.llb/IMAQ ReadFile"/>
				<Item Name="NI_Vision_Acquisition_Software.lvlib" Type="Library" URL="/&lt;vilib&gt;/vision/driver/NI_Vision_Acquisition_Software.lvlib"/>
				<Item Name="IMAQdx.ctl" Type="VI" URL="/&lt;vilib&gt;/userdefined/High Color/IMAQdx.ctl"/>
				<Item Name="Imaq Dispose" Type="VI" URL="/&lt;vilib&gt;/vision/Basics.llb/Imaq Dispose"/>
			</Item>
			<Item Name="nivissvc.dll" Type="Document" URL="nivissvc.dll">
				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
			</Item>
			<Item Name="nivision.dll" Type="Document" URL="nivision.dll">
				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
			</Item>
			<Item Name="gridBinaryToCostMap.vi" Type="VI" URL="../../subVIs/Sense/subvis/gridBinaryToCostMap.vi"/>
			<Item Name="resizeImage.vi" Type="VI" URL="../../subVIs/Sense/subvis/resizeImage.vi"/>
			<Item Name="imageToGridTest.vi" Type="VI" URL="../imageToGridTest.vi"/>
			<Item Name="coordinate.ctl" Type="VI" URL="../../typedefs/coordinate.ctl"/>
			<Item Name="discretizeCoordinate.vi" Type="VI" URL="../../subVIs/Think/sub/discretizeCoordinate.vi"/>
			<Item Name="ADstar_sub.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/ADstar_sub.vi"/>
			<Item Name="characterizeHeadingChange.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/characterizeHeadingChange.vi"/>
			<Item Name="VcodeLookUpTable.ctl" Type="VI" URL="../../typedefs/VcodeLookUpTable.ctl"/>
			<Item Name="movementToUniqueHeading.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/movementToUniqueHeading.vi"/>
			<Item Name="subtractCoordinates.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/subtractCoordinates.vi"/>
			<Item Name="calculateUniqueHeading.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/calculateUniqueHeading.vi"/>
			<Item Name="convertToStraightPath.vi" Type="VI" URL="../../subVIs/Think/sub/pathPlanning/convertToStraightPath.vi"/>
			<Item Name="niimaqdx.dll" Type="Document" URL="niimaqdx.dll">
				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
			</Item>
			<Item Name="cameraAction.ctl" Type="VI" URL="../../typedefs/cameraAction.ctl"/>
			<Item Name="cameraFGV.vi" Type="VI" URL="../../subVIs/Sense/cameraFGV.vi"/>
		</Item>
		<Item Name="Build Specifications" Type="Build"/>
	</Item>
</Project>
